通过悬架预调控制越野车起飞姿态，提升跳跃稳定性与成功率。
DART-S: Reachability-Audited Active-Suspension Preconditioning for Off-Road Vehicle Jumps
- 用悬架预先调节俯仰角、俯仰率和车轮转速，改变起飞状态
- 40°/13m/s边界下成功率达24/24，远超原有方法的0/24
- 适合需要高精度空中姿态控制的越野车辆自动驾驶研究
空中扭矩反应无法纠正超出轮胎角动量预算的起飞误差。DART-S 采用坡面悬架预调，在离地前调整俯仰角、俯仰率和车轮转速，从而改变目标状态并重塑剩余控制能力预算。为预测每种悬架动作对状态-预算对的影响，DART-S 使用局部校准图。一个支持感知选择器结合预测偏移、局部结果证据与区间可达性筛选；精确对审计报告残余控制能力。在72个独立BeamNG会话中进行600次新测试，所有正、负及边界查询均严格遵循预设分支。在确认的40°/13 m/s边界，DART-S 达到24/24的落地姿态达标率，而DART仅为0/24（会话级Holm校正p=0.0234）。在11.5 m/s时，0.35秒的时序动作实现23/24成功，静态预设为0/24（p=0.0156）。200 rad/s命令保护机制确保所有600次运行中驱动系统硬限值未被突破。源代码将发布于 https://github.com/MeridianCAS/DART-S
原文摘要 · Abstract (English)
Airborne torque reaction cannot recover takeoff errors beyond the wheel angular-momentum budget. DART-S applies ramp-face suspension preconditioning to change pitch, pitch rate, and wheel spin before liftoff, thereby shifting the queried state and altering the remaining authority budget. To predict how each suspension action reshapes this state-budget pair, DART-S employs a local calibration map. A support-aware selector combines the predicted shift with local outcome evidence and an interval-reachability screen; an exact-pair audit reports residual authority. Across 600 new runs in 72 independent BeamNG sessions, every positive, negative, and boundary query follows its prespecified branch. At the confirmed 40°/13 m/s boundary, DART-S attains 24/24 post-touchdown attitude-criterion successes versus 0/24 for DART (session-level Holm-adjusted p=0.0234). At 11.5 m/s, a 0.35 s timing action attains 23/24 versus 0/24 for the static preset (p=0.0156). The 200 rad/s command guard keeps drivetrain hard-limit exceedance at zero across all 600 runs. The source code will be available at https://github.com/MeridianCAS/DART-S
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